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https://github.com/OpenSolo/OpenSolo.git
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Uploader: Updated uploaded.py from ArduPilot
Latest uploader.py as of 2019-07-03
This commit is contained in:
Matt Lawrence
parent
88034de9c7
commit
bf73bcd580
@ -71,19 +71,20 @@ from sys import platform as _platform
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is_WSL = bool("Microsoft" in platform.uname()[2])
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# default list of port names to look for autopilots
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default_ports = [ '/dev/serial/by-id/usb-Ardu*',
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'/dev/serial/by-id/usb-3D*',
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'/dev/serial/by-id/usb-APM*',
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'/dev/serial/by-id/usb-Radio*',
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'/dev/serial/by-id/usb-*_3DR_*',
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'/dev/serial/by-id/usb-Hex_Technology_Limited*',
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'/dev/serial/by-id/usb-Hex_ProfiCNC*',
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'/dev/serial/by-id/usb-Holybro*',
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'/dev/tty.usbmodem*']
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default_ports = ['/dev/serial/by-id/usb-Ardu*',
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'/dev/serial/by-id/usb-3D*',
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'/dev/serial/by-id/usb-APM*',
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'/dev/serial/by-id/usb-Radio*',
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'/dev/serial/by-id/usb-*_3DR_*',
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'/dev/serial/by-id/usb-Hex_Technology_Limited*',
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'/dev/serial/by-id/usb-Hex_ProfiCNC*',
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'/dev/serial/by-id/usb-Holybro*',
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'/dev/serial/by-id/usb-mRo*',
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'/dev/tty.usbmodem*']
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if "cygwin" in _platform or is_WSL:
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default_ports += [ '/dev/ttyS*' ]
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default_ports += ['/dev/ttyS*']
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# Detect python version
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if sys.version_info[0] < 3:
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runningPython3 = False
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@ -94,6 +95,7 @@ else:
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# designating firmware builds compatible with multiple boardIDs
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compatible_IDs = {33: (9, 'AUAVX2.1')}
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class firmware(object):
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'''Loads a firmware file'''
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@ -221,8 +223,6 @@ class uploader(object):
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# open the port, keep the default timeout short so we can poll quickly
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self.port = serial.Serial(portname, baudrate_bootloader, timeout=1.0)
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self.otp = b''
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self.sn = b''
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self.baudrate_bootloader = baudrate_bootloader
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if baudrate_bootloader_flash is not None:
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self.baudrate_bootloader_flash = baudrate_bootloader_flash
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@ -280,7 +280,6 @@ class uploader(object):
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break
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def __send(self, c):
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# print("send " + binascii.hexlify(c))
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self.port.write(c)
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def __recv(self, count=1):
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@ -375,6 +374,8 @@ class uploader(object):
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length = self.__recv_int()
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value = self.__recv(length)
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self.__getSync()
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if runningPython3:
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value = value.decode('ascii')
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peices = value.split(",")
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return peices
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@ -446,6 +447,22 @@ class uploader(object):
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self.__getSync()
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return True
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# read multiple bytes from flash
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def __read_multi(self, length):
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if runningPython3:
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clength = length.to_bytes(1, byteorder='big')
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else:
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clength = chr(length)
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self.__send(uploader.READ_MULTI)
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self.__send(clength)
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self.__send(uploader.EOC)
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self.port.flush()
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ret = self.__recv(length)
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self.__getSync()
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return ret
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# send the reboot command
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def __reboot(self):
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self.__send(uploader.REBOOT +
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@ -476,6 +493,30 @@ class uploader(object):
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self.__drawProgressBar(label, uploadProgress, len(groups))
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self.__drawProgressBar(label, 100, 100)
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# download code
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def __download(self, label, fw):
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print("\n", end='')
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f = open(fw, 'wb')
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downloadProgress = 0
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readsize = uploader.READ_MULTI_MAX
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total = 0
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while True:
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n = min(self.fw_maxsize - total, readsize)
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bb = self.__read_multi(n)
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f.write(bb)
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total += len(bb)
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# Print download progress (throttled, so it does not delay download progress)
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downloadProgress += 1
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if downloadProgress % 256 == 0:
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self.__drawProgressBar(label, total, self.fw_maxsize)
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if len(bb) < readsize:
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break
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f.close()
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self.__drawProgressBar(label, total, self.fw_maxsize)
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print("\nReceived %u bytes to %s" % (total, fw))
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# verify code
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def __verify_v2(self, label, fw):
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print("\n", end='')
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@ -534,6 +575,98 @@ class uploader(object):
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self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
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self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
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def dump_board_info(self):
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# OTP added in v4:
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print("Bootloader Protocol: %u" % self.bl_rev)
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if self.bl_rev > 3:
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otp = b''
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for byte in range(0, 32*6, 4):
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x = self.__getOTP(byte)
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otp = otp + x
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# print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
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# see src/modules/systemlib/otp.h in px4 code:
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otp_id = otp[0:4]
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otp_idtype = otp[4:5]
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otp_vid = otp[8:4:-1]
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otp_pid = otp[12:8:-1]
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otp_coa = otp[32:160]
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# show user:
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try:
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print("OTP:")
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print(" type: " + otp_id.decode('Latin-1'))
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print(" idtype: " + binascii.b2a_qp(otp_idtype).decode('Latin-1'))
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print(" vid: " + binascii.hexlify(otp_vid).decode('Latin-1'))
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print(" pid: " + binascii.hexlify(otp_pid).decode('Latin-1'))
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print(" coa: " + binascii.b2a_base64(otp_coa).decode('Latin-1'), end='')
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print(" sn: ", end='')
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for byte in range(0, 12, 4):
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x = self.__getSN(byte)
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x = x[::-1] # reverse the bytes
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print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
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print('')
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except Exception:
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# ignore bad character encodings
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pass
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if self.bl_rev >= 5:
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des = self.__getCHIPDes()
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if (len(des) == 2):
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print("ChipDes:")
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print(" family: %s" % des[0])
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print(" revision: %s" % des[1])
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print("Chip:")
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if self.bl_rev > 4:
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chip = self.__getCHIP()
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mcu_id = chip & 0xfff
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revs = {}
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F4_IDS = {
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0x413: "STM32F40x_41x",
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0x419: "STM32F42x_43x",
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0x421: "STM32F42x_446xx",
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}
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F7_IDS = {
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0x449: "STM32F74x_75x",
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0x451: "STM32F76x_77x",
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}
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family = mcu_id & 0xfff
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chip_s = "%x [unknown family/revision]" % (chip)
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if family in F4_IDS:
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mcu = F4_IDS[family]
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MCU_REV_STM32F4_REV_A = 0x1000
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MCU_REV_STM32F4_REV_Z = 0x1001
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MCU_REV_STM32F4_REV_Y = 0x1003
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MCU_REV_STM32F4_REV_1 = 0x1007
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MCU_REV_STM32F4_REV_3 = 0x2001
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revs = {
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MCU_REV_STM32F4_REV_A: ("A", True),
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MCU_REV_STM32F4_REV_Z: ("Z", True),
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MCU_REV_STM32F4_REV_Y: ("Y", True),
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MCU_REV_STM32F4_REV_1: ("1", True),
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MCU_REV_STM32F4_REV_3: ("3", False),
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}
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rev = (chip & 0xFFFF0000) >> 16
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if rev in revs:
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(label, flawed) = revs[rev]
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if flawed:
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print(" %x %s rev%s (flawed; 1M limit)" % (chip, mcu, label,))
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else:
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print(" %x %s rev%s (no 1M flaw)" % (chip, mcu, label,))
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elif family in F7_IDS:
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print(" %s %08x" % (F7_IDS[family], chip))
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else:
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print(" [unavailable; bootloader too old]")
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print("Info:")
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print(" flash size: %u" % self.fw_maxsize)
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print(" board_type: %u" % self.board_type)
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print(" board_rev: %u" % self.board_rev)
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print("Identification complete")
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# upload the firmware
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def upload(self, fw, force=False, boot_delay=None):
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# Make sure we are doing the right thing
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@ -557,46 +690,12 @@ class uploader(object):
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print("FORCED WRITE, FLASHING ANYWAY!")
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else:
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raise IOError(msg)
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self.dump_board_info()
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if self.fw_maxsize < fw.property('image_size'):
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raise RuntimeError("Firmware image is too large for this board")
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# OTP added in v4:
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if self.bl_rev > 3:
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for byte in range(0, 32*6, 4):
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x = self.__getOTP(byte)
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self.otp = self.otp + x
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print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
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# see src/modules/systemlib/otp.h in px4 code:
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self.otp_id = self.otp[0:4]
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self.otp_idtype = self.otp[4:5]
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self.otp_vid = self.otp[8:4:-1]
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self.otp_pid = self.otp[12:8:-1]
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self.otp_coa = self.otp[32:160]
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# show user:
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try:
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print("type: " + self.otp_id.decode('Latin-1'))
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print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
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print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
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print("pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
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print("coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
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print("sn: ", end='')
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for byte in range(0, 12, 4):
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x = self.__getSN(byte)
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x = x[::-1] # reverse the bytes
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self.sn = self.sn + x
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print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
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print('')
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print("chip: %08x" % self.__getCHIP())
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if (self.bl_rev >= 5):
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des = self.__getCHIPDes()
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if (len(des) == 2):
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print("family: %s" % des[0])
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print("revision: %s" % des[1])
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print("flash %d" % self.fw_maxsize)
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except Exception:
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# ignore bad character encodings
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pass
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if self.baudrate_bootloader_flash != self.baudrate_bootloader:
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print("Setting baudrate to %u" % self.baudrate_bootloader_flash)
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self.__setbaud(self.baudrate_bootloader_flash)
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@ -651,7 +750,7 @@ class uploader(object):
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self.__send(uploader.NSH_REBOOT)
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self.port.flush()
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self.port.baudrate = self.baudrate_bootloader
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except:
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except Exception:
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try:
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self.port.flush()
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self.port.baudrate = self.baudrate_bootloader
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@ -660,6 +759,17 @@ class uploader(object):
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return True
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# upload the firmware
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def download(self, fw):
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if self.baudrate_bootloader_flash != self.baudrate_bootloader:
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print("Setting baudrate to %u" % self.baudrate_bootloader_flash)
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self.__setbaud(self.baudrate_bootloader_flash)
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self.port.baudrate = self.baudrate_bootloader_flash
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self.__sync()
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self.__download("Download", fw)
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self.port.close()
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def ports_to_try(args):
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portlist = []
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if args.port is None:
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@ -726,6 +836,7 @@ def find_bootloader(up, port):
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if not reboot_sent:
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return False
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def main():
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# Parse commandline arguments
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@ -741,15 +852,22 @@ def main():
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parser.add_argument('--target-component', type=int, action="store", help="Component ID to update")
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parser.add_argument('--source-system', type=int, action="store", help="Source system to send reboot mavlink packets from", default=255)
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parser.add_argument('--source-component', type=int, action="store", help="Source component to send reboot mavlink packets from", default=0)
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parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
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parser.add_argument('--download', action='store_true', default=False, help='download firmware from board')
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parser.add_argument('--identify', action="store_true", help="Do not flash firmware; simply dump information about board")
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parser.add_argument('firmware', nargs="?", action="store", default=None, help="Firmware file to be uploaded")
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args = parser.parse_args()
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# warn people about ModemManager which interferes badly with Pixhawk
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modemmanager_check()
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if args.firmware is None and not args.identify:
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parser.error("Firmware filename required for upload or download")
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sys.exit(1)
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# Load the firmware file
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fw = firmware(args.firmware)
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print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
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if not args.download and not args.identify:
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fw = firmware(args.firmware)
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print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
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print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
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baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
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@ -788,7 +906,12 @@ def main():
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try:
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# ok, we have a bootloader, try flashing it
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up.upload(fw, force=args.force, boot_delay=args.boot_delay)
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if args.identify:
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up.dump_board_info()
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elif args.download:
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up.download(args.firmware)
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else:
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up.upload(fw, force=args.force, boot_delay=args.boot_delay)
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except RuntimeError as ex:
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# print the error
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